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Guilhem Saurel
hpp-fcl
Commits
481f935d
Commit
481f935d
authored
8 years ago
by
Joseph Mirabel
Committed by
Joseph Mirabel
8 years ago
Browse files
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Plain Diff
Fix compilation issue. Add remove_fcl to avoid getting nested FclOp
parent
6d5f712f
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3 changed files
include/hpp/fcl/eigen/product.h
+2
-2
2 additions, 2 deletions
include/hpp/fcl/eigen/product.h
include/hpp/fcl/eigen/taylor_operator.h
+1
-1
1 addition, 1 deletion
include/hpp/fcl/eigen/taylor_operator.h
include/hpp/fcl/eigen/vec_3fx.h
+6
-3
6 additions, 3 deletions
include/hpp/fcl/eigen/vec_3fx.h
with
9 additions
and
6 deletions
include/hpp/fcl/eigen/product.h
+
2
−
2
View file @
481f935d
...
...
@@ -29,8 +29,8 @@ struct FclProduct
#define FCL_EIGEN_MAKE_PRODUCT_OPERATOR() \
template <typename OtherDerived> \
EIGEN_STRONG_INLINE const typename FclProduct<const FCL_EIGEN_CURRENT_CLASS, const OtherDerived>::ProductType \
EIGEN_STRONG_INLINE const typename FclProduct<const
typename
FCL_EIGEN_CURRENT_CLASS
::Base
, const OtherDerived>::ProductType \
operator*(const MatrixBase<OtherDerived>& other) const \
{ \
return FclProduct<const FCL_EIGEN_CURRENT_CLASS, const OtherDerived>::run (*this, other.derived()); \
return FclProduct<const
typename
FCL_EIGEN_CURRENT_CLASS
::Base
, const OtherDerived>::run (*this, other.derived()); \
}
This diff is collapsed.
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include/hpp/fcl/eigen/taylor_operator.h
+
1
−
1
View file @
481f935d
...
...
@@ -16,7 +16,7 @@ template<> struct TaylorReturnType<3> { typedef TMatrix3 type; typedef Matrix3f
template
<
typename
Derived
>
typename
TaylorReturnType
<
Derived
::
ColsAtCompileTime
>::
type
operator
*
(
const
FclType
<
Derived
>&
v
,
const
TaylorModel
&
a
)
{
const
typename
TaylorReturnType
<
Derived
::
ColsAtCompileTime
>::
eigen_type
b
=
v
.
derived
();
const
typename
TaylorReturnType
<
Derived
::
ColsAtCompileTime
>::
eigen_type
b
=
v
.
fcl
();
return
b
*
a
;
}
...
...
This diff is collapsed.
Click to expand it.
include/hpp/fcl/eigen/vec_3fx.h
+
6
−
3
View file @
481f935d
...
...
@@ -168,6 +168,9 @@ namespace Eigen {
OuterStrideAtCompileTime
=
traits_base
::
OuterStrideAtCompileTime
};
};
template
<
typename
Derived
>
struct
remove_fcl
{
typedef
Derived
type
;
};
template
<
>
template
<
typename
Derived
>
struct
remove_fcl
<
FclOp
<
Derived
>
>
{
typedef
Derived
type
;
};
}
template
<
typename
Derived
>
...
...
@@ -630,7 +633,7 @@ static inline typename Derived::Scalar triple(
const
FclType
<
Derived
>&
y
,
const
FclType
<
Derived
>&
z
)
{
return
x
.
derived
().
dot
(
y
.
derived
().
cross
(
z
.
derived
()));
return
x
.
fcl
().
dot
(
y
.
fcl
().
cross
(
z
.
fcl
()));
}
...
...
@@ -806,9 +809,9 @@ void eigen(const FclType<Matrix>& m, typename Matrix::Scalar dout[3], Vector* vo
}
template
<
typename
Derived
>
Eigen
::
FclOp
<
Eigen
::
Transpose
<
const
Derived
>
>
transpose
(
const
FclType
<
Derived
>&
R
)
Eigen
::
FclOp
<
Eigen
::
Transpose
<
const
typename
Eigen
::
internal
::
remove_fcl
<
Derived
>::
type
>
>
transpose
(
const
FclType
<
Derived
>&
R
)
{
return
Eigen
::
FclOp
<
Eigen
::
Transpose
<
const
Derived
>
>
(
R
.
fcl
());
return
Eigen
::
FclOp
<
Eigen
::
Transpose
<
const
typename
Eigen
::
internal
::
remove_fcl
<
Derived
>::
type
>
>
(
R
.
fcl
());
}
template
<
typename
T
,
int
_Options
>
...
...
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